from launch import LaunchDescription
import launch_ros.actions

def generate_launch_description():
    #找到配置文件的路径
    return LaunchDescription([
        launch_ros.actions.Node(
            package='rslidar_laserscan',
            name='rslidar_laserscan',  # 对应 yaml 的 定义头.
            executable='rslidar_laserscan',
            parameters=[{"model": "RS16"}, {"ring": 8}, {"sub_topic": "/rslidar_points"}],
            output='screen'),
    ])